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272
AGVEmulator/UC/AgvViewer.cs
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272
AGVEmulator/UC/AgvViewer.cs
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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namespace AGVEmulator.UC
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{
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public partial class AgvViewer : Control
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{
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public AgvViewer()
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{
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InitializeComponent();
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// Set Optimized Double Buffer to reduce flickering
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this.SetStyle(ControlStyles.UserPaint, true);
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this.SetStyle(ControlStyles.AllPaintingInWmPaint, true);
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this.SetStyle(ControlStyles.OptimizedDoubleBuffer, true);
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// Redraw when resized
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this.SetStyle(ControlStyles.ResizeRedraw, true);
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}
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public class TagArgs : EventArgs
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{
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public string Data { get; set; }
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public bool Active { get; set; }
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public TagArgs(string tag,bool act)
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{
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this.Data = tag;
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this.Active = act;
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}
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}
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public event EventHandler<TagArgs> TagTouched;
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public event EventHandler<TagArgs> MarkTouched;
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public event EventHandler<TagArgs> Command;
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public bool StopbyMark { get; set; }
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public float mpos = 100;
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public float posmax = 1200;
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public float posmin = 0;
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public float mspd = 10;
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public System.Diagnostics.Stopwatch wat = new System.Diagnostics.Stopwatch();
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public Font FontTag { get; set; }
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public Font FontMrk { get; set; }
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public int dir = 1;
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public class ptdata
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{
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public float pos { get; set; } = 0f;
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public string data { get; set; } = string.Empty;
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public Boolean active { get; set; } = false;
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}
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public ptdata[] listMRK { get; set; }
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public ptdata[] listTAG { get; set; }
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public string lasttag { get; set; } = string.Empty;
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public string lasttagdir { get; set; } = string.Empty;
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public string lastmark { get; set; } = string.Empty;
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public string lastmarkdir { get; set; } = string.Empty;
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protected override void OnPaint(PaintEventArgs pe)
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{
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pe.Graphics.Clear(this.BackColor);
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var r = new Rectangle(DisplayRectangle.Left + Padding.Left,
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DisplayRectangle.Top + Padding.Top,
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DisplayRectangle.Width - Padding.Right - Padding.Left - 1,
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DisplayRectangle.Height - Padding.Top - Padding.Bottom - 1);
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// pe.Graphics.FillRectangle(new SolidBrush(this.BackColor), DisplayRectangle);
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pe.Graphics.DrawRectangle(Pens.Black, r);
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var ptwidth = 25;
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var ptheight = 35;
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if (listMRK != null && listMRK.Any() && FontMrk != null)
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{
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foreach (var item in listMRK)
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{
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var x = r.Left + ((item.pos * 1f) / posmax) * r.Width;
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var rr = new RectangleF(x - ptwidth, r.Top + r.Height / 2f - ptheight / 2f, ptwidth * 2, ptheight);
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pe.Graphics.DrawLine(Pens.Gray, x, r.Top, x, r.Bottom);
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pe.Graphics.FillRectangle(new SolidBrush(Color.FromArgb(120, Color.Gold)), rr);
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pe.Graphics.DrawRectangle(Pens.DimGray, rr.Left, rr.Top, rr.Width, rr.Height);
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pe.Graphics.DrawString(item.data, FontMrk, Brushes.Gray, rr, new StringFormat
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{
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Alignment = StringAlignment.Center,
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LineAlignment = StringAlignment.Center,
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});
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}
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}
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ptwidth = 15;
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if (listTAG != null && listTAG.Any() && FontTag != null)
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{
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var lst = listTAG.Where(t => t.data.EndsWith("1"));
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foreach (var item in lst)
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{
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var x = r.Left + ((item.pos * 1f) / posmax) * r.Width;
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var rr = new RectangleF(x - ptwidth, r.Top + 5, ptwidth * 2, 15);
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pe.Graphics.DrawLine(Pens.Orange, x, r.Top, x, rr.Top);
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pe.Graphics.FillRectangle(Brushes.Orange, rr);
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pe.Graphics.DrawRectangle(Pens.DimGray, rr.Left, rr.Top, rr.Width, rr.Height);
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pe.Graphics.DrawString(item.data, FontTag, Brushes.Black, rr, new StringFormat
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{
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Alignment = StringAlignment.Center,
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LineAlignment = StringAlignment.Center,
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});
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}
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lst = listTAG.Where(t => t.data.EndsWith("0"));
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foreach (var item in lst)
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{
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var x = r.Left + ((item.pos * 1f) / posmax) * r.Width;
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var rr = new RectangleF(x - ptwidth, r.Bottom - 20, ptwidth * 2, 15);
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pe.Graphics.DrawLine(Pens.Orange, x, rr.Bottom, x, r.Bottom);
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pe.Graphics.FillRectangle(Brushes.Orange, rr);
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pe.Graphics.DrawRectangle(Pens.DimGray, rr.Left, rr.Top, rr.Width, rr.Height);
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pe.Graphics.DrawString(item.data, FontTag, Brushes.Black, rr, new StringFormat
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{
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Alignment = StringAlignment.Center,
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LineAlignment = StringAlignment.Center,
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});
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}
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}
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var posX = r.Left + (mpos / posmax) * r.Width;
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var posY = r.Top + r.Height / 2f;
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var boxw = r.Width * 0.030f;
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var boxh = r.Height * 0.15f;
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var box = new RectangleF(posX - boxw, posY - boxh, boxw * 2, boxh * 2);
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var box2 = new RectangleF(box.Left - 5, box.Top + 3, 10, box.Height - 6);
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for (int i = 0; i < posmax; i += 100)
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{
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var x = r.Left + ((i * 1f) / posmax) * r.Width;
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pe.Graphics.DrawLine(Pens.Black, x, r.Bottom - 3, x, r.Bottom);
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if (i > 0)
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pe.Graphics.DrawString($"{i / 10f}m", this.Font, Brushes.Black, x - 12, r.Bottom - 15);
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}
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pe.Graphics.FillRectangle(Brushes.LightSkyBlue, box);
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pe.Graphics.DrawRectangle(Pens.Black, box.Left, box.Top, box.Width, box.Height);
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pe.Graphics.DrawLine(new Pen(Color.Black, 4), posX, box.Top - 5, posX, box.Bottom + 5);
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pe.Graphics.FillRectangle(Brushes.Gold, box2);
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pe.Graphics.DrawRectangle(Pens.Black, box2.Left, box2.Top, box2.Width, box2.Height);
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//pe.Graphics.DrawString((mpos / 10f).ToString("N1") + "m", this.Font, Brushes.Black, box, new StringFormat
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//{
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// Alignment = StringAlignment.Center,
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// LineAlignment = StringAlignment.Center,
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//});
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if (StopbyMark)
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pe.Graphics.DrawString("!MRK-STP!", this.Font, Brushes.Blue, r.Left+2, r.Top+2);
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if (wat.IsRunning)
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{
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var newpos = mspd * (wat.ElapsedMilliseconds / 1000f);
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if (dir < 0) //forward
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{
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if (mpos - newpos < 0)
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mpos = posmax;
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else mpos -= newpos;
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//내위치주변에 마커가 있는지 본다
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var mlist = listMRK.Where(t => t.pos <= mpos && (mpos - t.pos) < 10);
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var mrk = mlist.FirstOrDefault();
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if (mrk != null)
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{
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//대상마커가있다
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if (lastmark.Equals(mrk.data) == false || lastmarkdir.Equals("F") == false)
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{
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lastmark = mrk.data;
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lastmarkdir = "F";
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mrk.active = true;
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MarkTouched?.Invoke(this, new TagArgs(mrk.data,true));
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if(StopbyMark)
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{
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Command?.Invoke(this, new TagArgs("stop",true));
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StopbyMark = false;
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}
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}
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}
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else
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{
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if (string.IsNullOrEmpty(lastmark) == false)
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{
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foreach(var item in listMRK.Where(t=>t.active))
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{
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item.active = false;
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MarkTouched?.Invoke(this, new TagArgs(item.data,false));
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}
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}
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}
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//주변태그확인
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var tlist = listTAG.Where(t => t.pos <= mpos && (mpos - t.pos) < 10);
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var tag = tlist.FirstOrDefault();
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if (tag != null)
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{
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//대상마커가있다
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if (lasttag.Equals(tag.data) == false || lasttagdir.Equals("F") == false)
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{
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lasttag = tag.data;
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lasttagdir = "F";
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TagTouched?.Invoke(this, new TagArgs(tag.data, true));
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}
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}
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}
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else //backward
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{
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if (mpos + newpos > posmax)
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mpos = 0;
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else mpos += newpos;
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//내위치주변에 마커가 있는지 본다
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var mlist = listMRK.Where(t => t.pos >= mpos && (t.pos - mpos) < 10);
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var mrk = mlist.FirstOrDefault();
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if (mrk != null)
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{
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//대상마커가있다
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if (lastmark.Equals(mrk.data) == false || lastmarkdir.Equals("B") == false)
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{
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lastmark = mrk.data;
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lastmarkdir = "B";
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mrk.active = true;
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MarkTouched?.Invoke(this, new TagArgs(mrk.data, true));
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if (StopbyMark)
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{
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Command?.Invoke(this, new TagArgs("stop", true));
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StopbyMark = false;
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}
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}
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}
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else
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{
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if (string.IsNullOrEmpty(lastmark) == false)
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{
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foreach (var item in listMRK.Where(t => t.active))
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{
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item.active = false;
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MarkTouched?.Invoke(this, new TagArgs(item.data, false));
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}
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}
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}
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//주변태그확인
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var tlist = listTAG.Where(t => t.pos >= mpos && (t.pos - mpos) < 10);
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var tag = tlist.FirstOrDefault();
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if (tag != null)
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{
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//대상마커가있다
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if (lasttag.Equals(tag.data) == false || lasttagdir.Equals("B") == false)
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{
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lasttag = tag.data;
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lasttagdir = "B";
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TagTouched?.Invoke(this, new TagArgs(tag.data, true));
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}
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}
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}
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wat.Restart();
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}
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}
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}
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}
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